Robot control device, robot control system, and robot control method

Abstract

A robot control device includes a controller. The controller executes a first calibration of a robot in at least one first calibration position included in a first calibration range set in an operating space of the robot and executes a second calibration of the robot in at least one second calibration position that is included in a second calibration range defining part of the first calibration range and that is set with a higher density than the at least one first calibration position.

1 . A robot control device comprising:
 a controller configured to control a robot,   the controller configured to
 execute a first calibration of the robot in at least one first calibration position included in a first calibration range set in an operating space of the robot; and 
 execute a second calibration of the robot in at least one second calibration position that is included in a second calibration range which is part of the first calibration range and that is set with a higher density than the at least one first calibration position. 
   
     
     
         2 . The robot control device according to  claim 1 ,
 wherein the second calibration position is set, in a space in which the robot performs work, with a density that is determined based on accuracy of the work of the robot.   
     
     
         3 . The robot control device according to  claim 1 ,
 wherein the controller executes the first calibration and the second calibration based on a captured image of the operating space.   
     
     
         4 . A robot control system comprising:
 the robot control device according to  claim 1 ; and   the robot.   
     
     
         5 . A robot control method comprising:
 executing a first calibration of the robot in at least one first calibration position included in a first calibration range set in an operating space of the robot; and   executing a second calibration of the robot in at least one second calibration position that is included in a second calibration range which is part of the first calibration range and that is set with a higher density than the at least one first calibration position.